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<div class="title">harris_6d.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
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<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
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<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
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<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_HARRIS_KEYPOINT_6D_IMPL_H_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_HARRIS_KEYPOINT_6D_IMPL_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;pcl/keypoints/harris_6d.h&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/common/io.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/filters/passthrough.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/filters/extract_indices.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/features/normal_3d.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="comment">//#include &lt;pcl/features/fast_intensity_gradient.h&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;pcl/features/intensity_gradient.h&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#include &lt;pcl/features/integral_image_normal.h&gt;</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160; </div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT, <span class="keyword">typename</span> NormalT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="classpcl_1_1_harris_keypoint6_d.html#a2363b81d8258ccd044efb83ad0120291">   51</a></span>&#160;<a class="code" href="classpcl_1_1_harris_keypoint6_d.html#a2363b81d8258ccd044efb83ad0120291">pcl::HarrisKeypoint6D&lt;PointInT, PointOutT, NormalT&gt;::setThreshold</a> (<span class="keywordtype">float</span> threshold)</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;{</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  threshold_= threshold;</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;}</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160; </div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT, <span class="keyword">typename</span> NormalT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00057"></a><span class="lineno"><a class="line" href="classpcl_1_1_harris_keypoint6_d.html#a3a47cfa8e967df522ef722b1eacf57b7">   57</a></span>&#160;<a class="code" href="classpcl_1_1_harris_keypoint6_d.html#a3a47cfa8e967df522ef722b1eacf57b7">pcl::HarrisKeypoint6D&lt;PointInT, PointOutT, NormalT&gt;::setRadius</a> (<span class="keywordtype">float</span> radius)</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;{</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  search_radius_ = radius;</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;}</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160; </div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT, <span class="keyword">typename</span> NormalT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="classpcl_1_1_harris_keypoint6_d.html#a390001f22f742bb1f7fe26f519bc114d">   63</a></span>&#160;<a class="code" href="classpcl_1_1_harris_keypoint6_d.html#a390001f22f742bb1f7fe26f519bc114d">pcl::HarrisKeypoint6D&lt;PointInT, PointOutT, NormalT&gt;::setRefine</a> (<span class="keywordtype">bool</span> do_refine)</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;{</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  refine_ = do_refine;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;}</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160; </div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT, <span class="keyword">typename</span> NormalT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="classpcl_1_1_harris_keypoint6_d.html#a1c0c0da396e659eb9e14128ee95216b3">   69</a></span>&#160;<a class="code" href="classpcl_1_1_harris_keypoint6_d.html#a1c0c0da396e659eb9e14128ee95216b3">pcl::HarrisKeypoint6D&lt;PointInT, PointOutT, NormalT&gt;::setNonMaxSupression</a> (<span class="keywordtype">bool</span> nonmax)</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;{</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  nonmax_ = nonmax;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;}</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT, <span class="keyword">typename</span> NormalT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;<a class="code" href="classpcl_1_1_harris_keypoint6_d.html">pcl::HarrisKeypoint6D&lt;PointInT, PointOutT, NormalT&gt;::calculateCombinedCovar</a> (<span class="keyword">const</span> std::vector&lt;int&gt;&amp; neighbors, <span class="keywordtype">float</span>* coefficients)<span class="keyword"> const</span></div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  memset (coefficients, 0, <span class="keyword">sizeof</span> (<span class="keywordtype">float</span>) * 21);</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  <span class="keywordtype">unsigned</span> count = 0;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  <span class="keywordflow">for</span> (std::vector&lt;int&gt;::const_iterator iIt = neighbors.begin(); iIt != neighbors.end(); ++iIt)</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  {</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    <span class="keywordflow">if</span> (pcl_isfinite (normals_-&gt;points[*iIt].normal_x) &amp;&amp; pcl_isfinite (intensity_gradients_-&gt;points[*iIt].gradient [0]))</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    {</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      coefficients[ 0] += normals_-&gt;points[*iIt].normal_x * normals_-&gt;points[*iIt].normal_x;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;      coefficients[ 1] += normals_-&gt;points[*iIt].normal_x * normals_-&gt;points[*iIt].normal_y;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      coefficients[ 2] += normals_-&gt;points[*iIt].normal_x * normals_-&gt;points[*iIt].normal_z;</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      coefficients[ 3] += normals_-&gt;points[*iIt].normal_x * intensity_gradients_-&gt;points[*iIt].gradient [0];</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;      coefficients[ 4] += normals_-&gt;points[*iIt].normal_x * intensity_gradients_-&gt;points[*iIt].gradient [1];</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;      coefficients[ 5] += normals_-&gt;points[*iIt].normal_x * intensity_gradients_-&gt;points[*iIt].gradient [2];</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160; </div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;      coefficients[ 6] += normals_-&gt;points[*iIt].normal_y * normals_-&gt;points[*iIt].normal_y;</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      coefficients[ 7] += normals_-&gt;points[*iIt].normal_y * normals_-&gt;points[*iIt].normal_z;</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;      coefficients[ 8] += normals_-&gt;points[*iIt].normal_y * intensity_gradients_-&gt;points[*iIt].gradient [0];</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;      coefficients[ 9] += normals_-&gt;points[*iIt].normal_y * intensity_gradients_-&gt;points[*iIt].gradient [1];</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;      coefficients[10] += normals_-&gt;points[*iIt].normal_y * intensity_gradients_-&gt;points[*iIt].gradient [2];</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;      coefficients[11] += normals_-&gt;points[*iIt].normal_z * normals_-&gt;points[*iIt].normal_z;</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;      coefficients[12] += normals_-&gt;points[*iIt].normal_z * intensity_gradients_-&gt;points[*iIt].gradient [0];</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;      coefficients[13] += normals_-&gt;points[*iIt].normal_z * intensity_gradients_-&gt;points[*iIt].gradient [1];</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;      coefficients[14] += normals_-&gt;points[*iIt].normal_z * intensity_gradients_-&gt;points[*iIt].gradient [2];</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160; </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;      coefficients[15] += intensity_gradients_-&gt;points[*iIt].gradient [0] * intensity_gradients_-&gt;points[*iIt].gradient [0];</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;      coefficients[16] += intensity_gradients_-&gt;points[*iIt].gradient [0] * intensity_gradients_-&gt;points[*iIt].gradient [1];</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;      coefficients[17] += intensity_gradients_-&gt;points[*iIt].gradient [0] * intensity_gradients_-&gt;points[*iIt].gradient [2];</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160; </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;      coefficients[18] += intensity_gradients_-&gt;points[*iIt].gradient [1] * intensity_gradients_-&gt;points[*iIt].gradient [1];</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;      coefficients[19] += intensity_gradients_-&gt;points[*iIt].gradient [1] * intensity_gradients_-&gt;points[*iIt].gradient [2];</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;      coefficients[20] += intensity_gradients_-&gt;points[*iIt].gradient [2] * intensity_gradients_-&gt;points[*iIt].gradient [2];</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160; </div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;      ++count;</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    }</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;  }</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  <span class="keywordflow">if</span> (count &gt; 0)</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  {</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;    <span class="keywordtype">float</span> norm = 1.0 / float (count);</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    coefficients[ 0] *= norm;</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    coefficients[ 1] *= norm;</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    coefficients[ 2] *= norm;</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    coefficients[ 3] *= norm;</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;    coefficients[ 4] *= norm;</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    coefficients[ 5] *= norm;</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;    coefficients[ 6] *= norm;</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    coefficients[ 7] *= norm;</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;    coefficients[ 8] *= norm;</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    coefficients[ 9] *= norm;</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    coefficients[10] *= norm;</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    coefficients[11] *= norm;</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    coefficients[12] *= norm;</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    coefficients[13] *= norm;</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;    coefficients[14] *= norm;</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;    coefficients[15] *= norm;</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;    coefficients[16] *= norm;</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    coefficients[17] *= norm;</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;    coefficients[18] *= norm;</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    coefficients[19] *= norm;</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;    coefficients[20] *= norm;</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;  }</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;}</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160; </div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT, <span class="keyword">typename</span> NormalT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00143"></a><span class="lineno"><a class="line" href="classpcl_1_1_harris_keypoint6_d.html#a6322ec64de1cafa4a6320b8dea17d858">  143</a></span>&#160;<a class="code" href="classpcl_1_1_harris_keypoint6_d.html#a6322ec64de1cafa4a6320b8dea17d858">pcl::HarrisKeypoint6D&lt;PointInT, PointOutT, NormalT&gt;::detectKeypoints</a> (<a class="code" href="classpcl_1_1_point_cloud.html">PointCloudOut</a> &amp;output)</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;{</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;  <span class="keywordflow">if</span> (normals_-&gt;empty ())</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;  {</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;    normals_-&gt;reserve (surface_-&gt;size ());</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;    <span class="keywordflow">if</span> (!surface_-&gt;isOrganized ())</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;    {</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;      <a class="code" href="classpcl_1_1_normal_estimation.html">pcl::NormalEstimation&lt;PointInT, NormalT&gt;</a> normal_estimation;</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;      normal_estimation.<a class="code" href="classpcl_1_1_normal_estimation.html#ac92dbbea9d923754b3d87d981a6bd131">setInputCloud</a> (surface_);</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;      normal_estimation.<a class="code" href="classpcl_1_1_feature.html#a44829319486a2dc415a4e068dc55c577">setRadiusSearch</a> (search_radius_);</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;      normal_estimation.<a class="code" href="classpcl_1_1_feature.html#ad5b1fa9612da40e738b1d99252c5ff2f">compute</a> (*normals_);</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;    }</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    {</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;      <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html">IntegralImageNormalEstimation&lt;PointInT, NormalT&gt;</a> normal_estimation;</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;      normal_estimation.<a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a6bde05e6637af21bb5f970c9feba4fc0">setNormalEstimationMethod</a> (<a class="code" href="classpcl_1_1_integral_image_normal_estimation.html">pcl::IntegralImageNormalEstimation&lt;PointInT, NormalT&gt;::SIMPLE_3D_GRADIENT</a>);</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;      normal_estimation.<a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a03cc1e146b6041a1d3d5a989ad171ee2">setInputCloud</a> (surface_);</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;      normal_estimation.<a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#ac833637b98338bafa4c38925ab245927">setNormalSmoothingSize</a> (5.0);</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;      normal_estimation.<a class="code" href="classpcl_1_1_feature.html#ad5b1fa9612da40e738b1d99252c5ff2f">compute</a> (*normals_);</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;    }</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;  }</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160; </div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;  pcl::PointCloud&lt;pcl::PointXYZI&gt;::Ptr cloud (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::PointXYZI&gt;</a>);</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;  cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a2d60b6927b31ef89cd3b97e8173ea4aa">resize</a> (surface_-&gt;size ());</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;<span class="preprocessor">#ifdef _OPENMP</span></div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;<span class="preprocessor">  #pragma omp parallel for num_threads(threads_) default(shared)</span></div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;<span class="preprocessor">#endif  </span></div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> idx = 0; idx &lt; surface_-&gt;size (); ++idx)</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;  {</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;    cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a> [idx].x = surface_-&gt;points [idx].x;</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;    cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a> [idx].y = surface_-&gt;points [idx].y;</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;    cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a> [idx].z = surface_-&gt;points [idx].z;</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;    <span class="comment">//grayscale = 0.2989 * R + 0.5870 * G + 0.1140 * B</span></div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160; </div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;    cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a> [idx].intensity = 0.00390625 * (0.114 * float(surface_-&gt;points [idx].b) + 0.5870 * float(surface_-&gt;points [idx].g) + 0.2989 * float(surface_-&gt;points [idx].r));</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;  }</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;  <a class="code" href="group__common.html#gaa65b1c8d782e7b776ae682679d2d948f">pcl::copyPointCloud</a> (*surface_, *cloud);</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160; </div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;  <a class="code" href="classpcl_1_1_intensity_gradient_estimation.html">IntensityGradientEstimation&lt;PointXYZI, NormalT, IntensityGradient&gt;</a> grad_est;</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;  grad_est.<a class="code" href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">setInputCloud</a> (cloud);</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;  grad_est.<a class="code" href="classpcl_1_1_feature_from_normals.html#a349685ac9deb723502de9f399d0286dc">setInputNormals</a> (normals_);</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;  grad_est.<a class="code" href="classpcl_1_1_feature.html#a44829319486a2dc415a4e068dc55c577">setRadiusSearch</a> (search_radius_);</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;  grad_est.<a class="code" href="classpcl_1_1_feature.html#ad5b1fa9612da40e738b1d99252c5ff2f">compute</a> (*intensity_gradients_);</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;  </div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;<span class="preprocessor">#ifdef _OPENMP</span></div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;<span class="preprocessor">  #pragma omp parallel for num_threads(threads_) default (shared)</span></div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;<span class="preprocessor">#endif    </span></div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> idx = 0; idx &lt; intensity_gradients_-&gt;size (); ++idx)</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;  {</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;    <span class="keywordtype">float</span> len = intensity_gradients_-&gt;points [idx].gradient_x * intensity_gradients_-&gt;points [idx].gradient_x +</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;                intensity_gradients_-&gt;points [idx].gradient_y * intensity_gradients_-&gt;points [idx].gradient_y +</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;                intensity_gradients_-&gt;points [idx].gradient_z * intensity_gradients_-&gt;points [idx].gradient_z ;</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160; </div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;    <span class="comment">// Suat: ToDo: remove this magic number or expose using set/get</span></div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;    <span class="keywordflow">if</span> (len &gt; 200.0)</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;    {</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;      len = 1.0 / sqrt (len);</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;      intensity_gradients_-&gt;points [idx].gradient_x *= len;</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;      intensity_gradients_-&gt;points [idx].gradient_y *= len;</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;      intensity_gradients_-&gt;points [idx].gradient_z *= len;</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;    }</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;    {</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;      intensity_gradients_-&gt;points [idx].gradient_x = 0;</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;      intensity_gradients_-&gt;points [idx].gradient_y = 0;</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;      intensity_gradients_-&gt;points [idx].gradient_z = 0;</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;    }</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;  }</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160; </div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;  boost::shared_ptr&lt;pcl::PointCloud&lt;PointOutT&gt; &gt; response (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointOutT&gt;</a> ());</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;  response-&gt;points.reserve (input_-&gt;points.size());</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;  responseTomasi(*response);</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160; </div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;  <span class="comment">// just return the response</span></div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;  <span class="keywordflow">if</span> (!nonmax_)</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;  {</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;    output = *response;</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;    <span class="comment">// we do not change the denseness in this case</span></div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;    output.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = input_-&gt;is_dense;</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; response-&gt;size (); ++i)</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;      keypoints_indices_-&gt;indices.push_back (i);</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;  }</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;  {</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;    output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.clear ();</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;    output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.reserve (response-&gt;points.size());</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160; </div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;<span class="preprocessor">#ifdef _OPENMP</span></div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;<span class="preprocessor">  #pragma omp parallel for num_threads(threads_) default(shared)</span></div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;<span class="preprocessor">#endif  </span></div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> idx = 0; idx &lt; response-&gt;points.size (); ++idx)</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;    {</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;      <span class="keywordflow">if</span> (!isFinite (response-&gt;points[idx]) || response-&gt;points[idx].intensity &lt; threshold_)</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160; </div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;      std::vector&lt;int&gt; nn_indices;</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;      std::vector&lt;float&gt; nn_dists;</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;      tree_-&gt;radiusSearch (idx, search_radius_, nn_indices, nn_dists);</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;      <span class="keywordtype">bool</span> is_maxima = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;      <span class="keywordflow">for</span> (std::vector&lt;int&gt;::const_iterator iIt = nn_indices.begin(); iIt != nn_indices.end(); ++iIt)</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;      {</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;        <span class="keywordflow">if</span> (response-&gt;points[idx].intensity &lt; response-&gt;points[*iIt].intensity)</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;        {</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;          is_maxima = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;          <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;        }</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;      }</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;      <span class="keywordflow">if</span> (is_maxima)</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;<span class="preprocessor">#ifdef _OPENMP</span></div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;<span class="preprocessor">        #pragma omp critical</span></div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;      {</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;        output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.push_back (response-&gt;points[idx]);</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;        keypoints_indices_-&gt;indices.push_back (idx);</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;      }</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;    }</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160; </div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;    <span class="keywordflow">if</span> (refine_)</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;      refineCorners (output);</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160; </div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;    output.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> = 1;</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;    output.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> = <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span> (output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size());</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;    output.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;  }</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;}</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160; </div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT, <span class="keyword">typename</span> NormalT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;<a class="code" href="classpcl_1_1_harris_keypoint6_d.html">pcl::HarrisKeypoint6D&lt;PointInT, PointOutT, NormalT&gt;::responseTomasi</a> (PointCloudOut &amp;output)<span class="keyword"> const</span></div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;  <span class="comment">// get the 6x6 covar-mat</span></div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;  PointOutT pointOut;</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;  PCL_ALIGN (16) float covar [21];</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;  Eigen::SelfAdjointEigenSolver &lt;Eigen::Matrix&lt;<span class="keywordtype">float</span>, 6, 6&gt; &gt; solver;</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;  Eigen::Matrix&lt;<span class="keywordtype">float</span>, 6, 6&gt; covariance;</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160; </div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;<span class="preprocessor">#ifdef _OPENMP</span></div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;<span class="preprocessor">  #pragma omp parallel for default (shared) private (pointOut, covar, covariance, solver) num_threads(threads_)</span></div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;<span class="preprocessor">#endif  </span></div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> pIdx = 0; pIdx &lt; input_-&gt;size (); ++pIdx)</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;  {</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;    <span class="keyword">const</span> PointInT&amp; pointIn = input_-&gt;points [pIdx];</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;    pointOut.intensity = 0.0; <span class="comment">//std::numeric_limits&lt;float&gt;::quiet_NaN ();</span></div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;    <span class="keywordflow">if</span> (isFinite (pointIn))</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;    {</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;      std::vector&lt;int&gt; nn_indices;</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;      std::vector&lt;float&gt; nn_dists;</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;      tree_-&gt;radiusSearch (pointIn, search_radius_, nn_indices, nn_dists);</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;      calculateCombinedCovar (nn_indices, covar);</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160; </div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;      <span class="keywordtype">float</span> trace = covar [0] + covar [6] + covar [11] + covar [15] + covar [18] + covar [20];</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;      <span class="keywordflow">if</span> (trace != 0)</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;      {</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;        covariance.coeffRef ( 0) = covar [ 0];</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;        covariance.coeffRef ( 1) = covar [ 1];</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;        covariance.coeffRef ( 2) = covar [ 2];</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;        covariance.coeffRef ( 3) = covar [ 3];</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;        covariance.coeffRef ( 4) = covar [ 4];</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;        covariance.coeffRef ( 5) = covar [ 5];</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160; </div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;        covariance.coeffRef ( 7) = covar [ 6];</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;        covariance.coeffRef ( 8) = covar [ 7];</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;        covariance.coeffRef ( 9) = covar [ 8];</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;        covariance.coeffRef (10) = covar [ 9];</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;        covariance.coeffRef (11) = covar [10];</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160; </div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;        covariance.coeffRef (14) = covar [11];</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;        covariance.coeffRef (15) = covar [12];</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;        covariance.coeffRef (16) = covar [13];</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;        covariance.coeffRef (17) = covar [14];</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160; </div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;        covariance.coeffRef (21) = covar [15];</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;        covariance.coeffRef (22) = covar [16];</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;        covariance.coeffRef (23) = covar [17];</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160; </div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;        covariance.coeffRef (28) = covar [18];</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;        covariance.coeffRef (29) = covar [19];</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160; </div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;        covariance.coeffRef (35) = covar [20];</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160; </div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;        covariance.coeffRef ( 6) = covar [ 1];</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160; </div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;        covariance.coeffRef (12) = covar [ 2];</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;        covariance.coeffRef (13) = covar [ 7];</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160; </div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;        covariance.coeffRef (18) = covar [ 3];</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;        covariance.coeffRef (19) = covar [ 8];</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;        covariance.coeffRef (20) = covar [12];</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160; </div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;        covariance.coeffRef (24) = covar [ 4];</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;        covariance.coeffRef (25) = covar [ 9];</div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;        covariance.coeffRef (26) = covar [13];</div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;        covariance.coeffRef (27) = covar [16];</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160; </div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;        covariance.coeffRef (30) = covar [ 5];</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;        covariance.coeffRef (31) = covar [10];</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;        covariance.coeffRef (32) = covar [14];</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;        covariance.coeffRef (33) = covar [17];</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;        covariance.coeffRef (34) = covar [19];</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160; </div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;        solver.compute (covariance);</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;        pointOut.intensity = solver.eigenvalues () [3];</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;      }</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;    }</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160; </div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;    pointOut.x = pointIn.x;</div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;    pointOut.y = pointIn.y;</div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;    pointOut.z = pointIn.z;</div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;<span class="preprocessor">#ifdef _OPENMP</span></div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;<span class="preprocessor">    #pragma omp critical</span></div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160; </div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;    output.points.push_back(pointOut);</div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;  }</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;  output.height = input_-&gt;height;</div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;  output.width = input_-&gt;width;</div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;}</div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160; </div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT, <span class="keyword">typename</span> NormalT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;<a class="code" href="classpcl_1_1_harris_keypoint6_d.html">pcl::HarrisKeypoint6D&lt;PointInT, PointOutT, NormalT&gt;::refineCorners</a> (PointCloudOut &amp;corners)<span class="keyword"> const</span></div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;  <a class="code" href="classpcl_1_1search_1_1_kd_tree.html">pcl::search::KdTree&lt;PointInT&gt;</a> search;</div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;  search.<a class="code" href="classpcl_1_1search_1_1_kd_tree.html#a457ebf1fc8f25e3b45d0bf9d55880f6f">setInputCloud</a>(surface_);</div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160; </div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;  Eigen::Matrix3f nnT;</div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;  Eigen::Matrix3f NNT;</div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;  Eigen::Vector3f NNTp;</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;  <span class="keyword">const</span> Eigen::Vector3f* normal;</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;  <span class="keyword">const</span> Eigen::Vector3f* point;</div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;  <span class="keywordtype">float</span> diff;</div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">unsigned</span> max_iterations = 10;</div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;  <span class="keywordflow">for</span> (<span class="keyword">typename</span> PointCloudOut::iterator cornerIt = corners.begin(); cornerIt != corners.end(); ++cornerIt)</div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;  {</div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;    <span class="keywordtype">unsigned</span> iterations = 0;</div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;    <span class="keywordflow">do</span> {</div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;      NNT.setZero();</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;      NNTp.setZero();</div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;      PointInT corner;</div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;      corner.x = cornerIt-&gt;x;</div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;      corner.y = cornerIt-&gt;y;</div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;      corner.z = cornerIt-&gt;z;</div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;      std::vector&lt;int&gt; nn_indices;</div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;      std::vector&lt;float&gt; nn_dists;      </div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;      search.<a class="code" href="classpcl_1_1search_1_1_kd_tree.html#a1a8440ce95705cc552c988fa881ffeb8">radiusSearch</a> (corner, search_radius_, nn_indices, nn_dists);</div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;      <span class="keywordflow">for</span> (std::vector&lt;int&gt;::const_iterator iIt = nn_indices.begin(); iIt != nn_indices.end(); ++iIt)</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;      {</div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;        normal = <span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span>Eigen::Vector3f*<span class="keyword">&gt;</span> (&amp;(normals_-&gt;points[*iIt].normal_x));</div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;        point = <span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span>Eigen::Vector3f*<span class="keyword">&gt;</span> (&amp;(surface_-&gt;points[*iIt].x));</div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;        nnT = (*normal) * (normal-&gt;transpose());</div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;        NNT += nnT;</div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;        NNTp += nnT * (*point);</div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;      }</div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;      <span class="keywordflow">if</span> (NNT.determinant() != 0)</div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;        *(<span class="keyword">reinterpret_cast&lt;</span>Eigen::Vector3f*<span class="keyword">&gt;</span>(&amp;(cornerIt-&gt;x))) = NNT.inverse () * NNTp;</div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160; </div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;      diff = (cornerIt-&gt;x - corner.x) * (cornerIt-&gt;x - corner.x) +</div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;             (cornerIt-&gt;y - corner.y) * (cornerIt-&gt;y - corner.y) +</div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;             (cornerIt-&gt;z - corner.z) * (cornerIt-&gt;z - corner.z);</div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160; </div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;    } <span class="keywordflow">while</span> (diff &gt; 1e-6 &amp;&amp; ++iterations &lt; max_iterations);</div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;  }</div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;}</div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160; </div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_HarrisKeypoint6D(T,U,N) template class PCL_EXPORTS pcl::HarrisKeypoint6D&lt;T,U,N&gt;;</span></div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// #ifndef PCL_HARRIS_KEYPOINT_6D_IMPL_H_</span></div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160; </div>
<div class="ttc" id="aclasspcl_1_1_feature_from_normals_html_a349685ac9deb723502de9f399d0286dc"><div class="ttname"><a href="classpcl_1_1_feature_from_normals.html#a349685ac9deb723502de9f399d0286dc">pcl::FeatureFromNormals::setInputNormals</a></div><div class="ttdeci">void setInputNormals(const PointCloudNConstPtr &amp;normals)</div><div class="ttdoc">Provide a pointer to the input dataset that contains the point normals of the XYZ dataset....</div><div class="ttdef"><b>Definition:</b> feature.h:344</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_a44829319486a2dc415a4e068dc55c577"><div class="ttname"><a href="classpcl_1_1_feature.html#a44829319486a2dc415a4e068dc55c577">pcl::Feature::setRadiusSearch</a></div><div class="ttdeci">void setRadiusSearch(double radius)</div><div class="ttdoc">Set the sphere radius that is to be used for determining the nearest neighbors used for the feature e...</div><div class="ttdef"><b>Definition:</b> feature.h:200</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_ad5b1fa9612da40e738b1d99252c5ff2f"><div class="ttname"><a href="classpcl_1_1_feature.html#ad5b1fa9612da40e738b1d99252c5ff2f">pcl::Feature::compute</a></div><div class="ttdeci">void compute(PointCloudOut &amp;output)</div><div class="ttdoc">Base method for feature estimation for all points given in &lt;setInputCloud (), setIndices ()&gt; using th...</div><div class="ttdef"><b>Definition:</b> feature.hpp:189</div></div>
<div class="ttc" id="aclasspcl_1_1_harris_keypoint6_d_html"><div class="ttname"><a href="classpcl_1_1_harris_keypoint6_d.html">pcl::HarrisKeypoint6D</a></div><div class="ttdoc">Keypoint detector for detecting corners in 3D (XYZ), 2D (intensity) AND mixed versions of these.</div><div class="ttdef"><b>Definition:</b> harris_6d.h:51</div></div>
<div class="ttc" id="aclasspcl_1_1_harris_keypoint6_d_html_a1c0c0da396e659eb9e14128ee95216b3"><div class="ttname"><a href="classpcl_1_1_harris_keypoint6_d.html#a1c0c0da396e659eb9e14128ee95216b3">pcl::HarrisKeypoint6D::setNonMaxSupression</a></div><div class="ttdeci">void setNonMaxSupression(bool=false)</div><div class="ttdoc">whether non maxima suppression should be applied or the response for each point should be returned</div><div class="ttdef"><b>Definition:</b> harris_6d.hpp:69</div></div>
<div class="ttc" id="aclasspcl_1_1_harris_keypoint6_d_html_a2363b81d8258ccd044efb83ad0120291"><div class="ttname"><a href="classpcl_1_1_harris_keypoint6_d.html#a2363b81d8258ccd044efb83ad0120291">pcl::HarrisKeypoint6D::setThreshold</a></div><div class="ttdeci">void setThreshold(float threshold)</div><div class="ttdoc">set the threshold value for detecting corners. This is only evaluated if non maxima suppression is tu...</div><div class="ttdef"><b>Definition:</b> harris_6d.hpp:51</div></div>
<div class="ttc" id="aclasspcl_1_1_harris_keypoint6_d_html_a390001f22f742bb1f7fe26f519bc114d"><div class="ttname"><a href="classpcl_1_1_harris_keypoint6_d.html#a390001f22f742bb1f7fe26f519bc114d">pcl::HarrisKeypoint6D::setRefine</a></div><div class="ttdeci">void setRefine(bool do_refine)</div><div class="ttdoc">whether the detected key points should be refined or not. If turned of, the key points are a subset o...</div><div class="ttdef"><b>Definition:</b> harris_6d.hpp:63</div></div>
<div class="ttc" id="aclasspcl_1_1_harris_keypoint6_d_html_a3a47cfa8e967df522ef722b1eacf57b7"><div class="ttname"><a href="classpcl_1_1_harris_keypoint6_d.html#a3a47cfa8e967df522ef722b1eacf57b7">pcl::HarrisKeypoint6D::setRadius</a></div><div class="ttdeci">void setRadius(float radius)</div><div class="ttdoc">set the radius for normal estimation and non maxima supression.</div><div class="ttdef"><b>Definition:</b> harris_6d.hpp:57</div></div>
<div class="ttc" id="aclasspcl_1_1_harris_keypoint6_d_html_a6322ec64de1cafa4a6320b8dea17d858"><div class="ttname"><a href="classpcl_1_1_harris_keypoint6_d.html#a6322ec64de1cafa4a6320b8dea17d858">pcl::HarrisKeypoint6D::detectKeypoints</a></div><div class="ttdeci">void detectKeypoints(PointCloudOut &amp;output)</div><div class="ttdoc">Abstract key point detection method.</div><div class="ttdef"><b>Definition:</b> harris_6d.hpp:143</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html">pcl::IntegralImageNormalEstimation</a></div><div class="ttdoc">Surface normal estimation on organized data using integral images.</div><div class="ttdef"><b>Definition:</b> integral_image_normal.h:69</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html_a03cc1e146b6041a1d3d5a989ad171ee2"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html#a03cc1e146b6041a1d3d5a989ad171ee2">pcl::IntegralImageNormalEstimation::setInputCloud</a></div><div class="ttdeci">virtual void setInputCloud(const typename PointCloudIn::ConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input dataset (overwrites the PCLBase::setInputCloud method)</div><div class="ttdef"><b>Definition:</b> integral_image_normal.h:235</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html_a6bde05e6637af21bb5f970c9feba4fc0"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html#a6bde05e6637af21bb5f970c9feba4fc0">pcl::IntegralImageNormalEstimation::setNormalEstimationMethod</a></div><div class="ttdeci">void setNormalEstimationMethod(NormalEstimationMethod normal_estimation_method)</div><div class="ttdoc">Set the normal estimation method. The current implemented algorithms are:</div><div class="ttdef"><b>Definition:</b> integral_image_normal.h:217</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html_ac833637b98338bafa4c38925ab245927"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html#ac833637b98338bafa4c38925ab245927">pcl::IntegralImageNormalEstimation::setNormalSmoothingSize</a></div><div class="ttdeci">void setNormalSmoothingSize(float normal_smoothing_size)</div><div class="ttdoc">Set the normal smoothing size</div><div class="ttdef"><b>Definition:</b> integral_image_normal.h:193</div></div>
<div class="ttc" id="aclasspcl_1_1_intensity_gradient_estimation_html"><div class="ttname"><a href="classpcl_1_1_intensity_gradient_estimation.html">pcl::IntensityGradientEstimation</a></div><div class="ttdoc">IntensityGradientEstimation estimates the intensity gradient for a point cloud that contains position...</div><div class="ttdef"><b>Definition:</b> intensity_gradient.h:57</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_estimation_html"><div class="ttname"><a href="classpcl_1_1_normal_estimation.html">pcl::NormalEstimation</a></div><div class="ttdoc">NormalEstimation estimates local surface properties (surface normals and curvatures)at each 3D point....</div><div class="ttdef"><b>Definition:</b> normal_3d.h:200</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_estimation_html_ac92dbbea9d923754b3d87d981a6bd131"><div class="ttname"><a href="classpcl_1_1_normal_estimation.html#ac92dbbea9d923754b3d87d981a6bd131">pcl::NormalEstimation::setInputCloud</a></div><div class="ttdeci">virtual void setInputCloud(const PointCloudConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input dataset</div><div class="ttdef"><b>Definition:</b> normal_3d.h:290</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_a1952d7101f3942bac3b69ed55c1ca7ea"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">pcl::PCLBase::setInputCloud</a></div><div class="ttdeci">virtual void setInputCloud(const PointCloudConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input dataset</div><div class="ttdef"><b>Definition:</b> pcl_base.hpp:66</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a2185a6453f8ad905d7bdf7b45754a160"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">pcl::PointCloud::width</a></div><div class="ttdeci">uint32_t width</div><div class="ttdoc">The point cloud width (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:413</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a2d60b6927b31ef89cd3b97e8173ea4aa"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a2d60b6927b31ef89cd3b97e8173ea4aa">pcl::PointCloud::resize</a></div><div class="ttdeci">void resize(size_t n)</div><div class="ttdoc">Resize the cloud</div><div class="ttdef"><b>Definition:</b> point_cloud.h:455</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a3ca88d8ebf6f4f35acbc31cdfb38aa94"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">pcl::PointCloud::is_dense</a></div><div class="ttdeci">bool is_dense</div><div class="ttdoc">True if no points are invalid (e.g., have NaN or Inf values).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:418</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a4f34b45220c57f96607513ffad0d9582"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">pcl::PointCloud::height</a></div><div class="ttdeci">uint32_t height</div><div class="ttdoc">The point cloud height (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:415</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_kd_tree_html"><div class="ttname"><a href="classpcl_1_1search_1_1_kd_tree.html">pcl::search::KdTree</a></div><div class="ttdoc">search::KdTree is a wrapper class which inherits the pcl::KdTree class for performing search function...</div><div class="ttdef"><b>Definition:</b> kdtree.h:63</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_kd_tree_html_a1a8440ce95705cc552c988fa881ffeb8"><div class="ttname"><a href="classpcl_1_1search_1_1_kd_tree.html#a1a8440ce95705cc552c988fa881ffeb8">pcl::search::KdTree::radiusSearch</a></div><div class="ttdeci">int radiusSearch(const PointT &amp;point, double radius, std::vector&lt; int &gt; &amp;k_indices, std::vector&lt; float &gt; &amp;k_sqr_distances, unsigned int max_nn=0) const</div><div class="ttdoc">Search for all the nearest neighbors of the query point in a given radius.</div><div class="ttdef"><b>Definition:</b> kdtree.hpp:97</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_kd_tree_html_a457ebf1fc8f25e3b45d0bf9d55880f6f"><div class="ttname"><a href="classpcl_1_1search_1_1_kd_tree.html#a457ebf1fc8f25e3b45d0bf9d55880f6f">pcl::search::KdTree::setInputCloud</a></div><div class="ttdeci">void setInputCloud(const PointCloudConstPtr &amp;cloud, const IndicesConstPtr &amp;indices=IndicesConstPtr())</div><div class="ttdoc">Provide a pointer to the input dataset.</div><div class="ttdef"><b>Definition:</b> kdtree.hpp:77</div></div>
<div class="ttc" id="agroup__common_html_gaa65b1c8d782e7b776ae682679d2d948f"><div class="ttname"><a href="group__common.html#gaa65b1c8d782e7b776ae682679d2d948f">pcl::copyPointCloud</a></div><div class="ttdeci">PCL_EXPORTS void copyPointCloud(const pcl::PCLPointCloud2 &amp;cloud_in, const std::vector&lt; int &gt; &amp;indices, pcl::PCLPointCloud2 &amp;cloud_out)</div><div class="ttdoc">Extract the indices of a given point cloud as a new point cloud</div></div>
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